#

luxiaotao1123

2024-11-04 7f70cb15d035f0c233b9e62b9e43aa985317c908

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/TrafficService.java

@@ -1,15 +1,12 @@
package com.zy.acs.manager.core.service;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.utils.RedisSupport;
import com.zy.acs.manager.common.utils.MapDataUtils;
import com.zy.acs.manager.core.domain.TaskPosDto;
import com.zy.acs.manager.core.domain.TrafficJamDto;
import com.zy.acs.manager.core.service.astart.DynamicNodeType;
import com.zy.acs.manager.core.service.astart.MapDataDispatcher;
import com.zy.acs.manager.core.service.astart.RetreatNavigateNode;
@@ -26,10 +23,7 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.util.ArrayList;
import java.util.Comparator;
import java.util.Date;
import java.util.List;
import java.util.*;

/**
 * Wavefront
@@ -84,24 +78,23 @@
            Travel travel = travelService.getById(segment.getTravelId());
            Agv agv = agvService.getById(travel.getAgvId());
            AgvDetail agvDetail = agvDetailService.selectByAgvId(travel.getAgvId());

            long endNode = segment.getEndNode();
            Code startCode = codeService.getById(agvDetail.getRecentCode());
            Code endCode = codeService.getById(endNode);

            // valid ----------------------------------------------------
            if (!agvService.judgeEnable(agv.getId())) {
                return;
            }
            if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
                return;
            }

            List<Segment> waitingSegList = segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString());
            if (!Cools.isEmpty(waitingSegList)) {
                for (Segment seg : waitingSegList) {
                    if (!seg.getId().equals(segment.getId())) {
                for (Segment waitingSeg : waitingSegList) {
                    if (!waitingSeg.getId().equals(segment.getId())) {
                        return;
                    }
                }
            }

            if (jamService.count(new LambdaQueryWrapper<Jam>()
                    .eq(Jam::getJamAgv, agv.getId())
                    .eq(Jam::getJamSeg, segment.getId())
@@ -112,23 +105,27 @@
                return;
            }

            // execute -----------------------------------------------
            //        ArrayList<List<TaskPosDto>> list = JSON.parseObject(travel.getTaskContent(), new TypeReference<ArrayList<List<TaskPosDto>>>() {});

            List<Segment> segmentList = new ArrayList<>();
            segmentList.add(segment);

            // get path list
            avoidWaveCalculator.calcWaveScope();    // * sync wave scope
            List<String> pathList = this.checkoutPath(agv, startCode, endCode, segment);

            // checkout path
            Code startCode = codeService.getById(agvDetail.getRecentCode());
            Code endCode = codeService.getById(endNode);
            List<String> pathList = this.checkoutPath(agv, startCode, endCode, segment);
            if (Cools.isEmpty(pathList)) {
                return;
            }

            String lastCodeData = pathList.get(pathList.size() - 1);
            List<Segment> segmentList = new ArrayList<>();
            segmentList.add(segment);

            // slice
            String lastCodeData = pathList.get(pathList.size() - 1);
            if (!endCode.getData().equals(lastCodeData)) {
                // slice
                Code lastCode = codeService.selectByData(lastCodeData);

//                if (pathList.size() <= MIN_SLICE_PATH_LENGTH) {
//                    return;
@@ -138,11 +135,9 @@
                segment.setState(SegmentStateType.INIT.toString());
                segment.setUpdateTime(now);
                if (!segmentService.updateById(segment)) {
                    log.error("Segment [{}] 更新失败 ！！！", segment.getTravelId() + " - " + segment.getSerial());
                    log.error("Segment [{}] failed to update ！！！", segment.getGroupId() + " - " + segment.getSerial());
                }
                segmentList.clear();

                Code lastCode = codeService.selectByData(lastCodeData);

                // new move seg
                Segment insertSeg = new Segment();
@@ -157,7 +152,6 @@
                if (!segmentService.save(insertSeg)) {
                    log.error("Segment [{}] 保存失败 ！！！", segment.getTravelId() + " - " + segment.getSerial());
                }

                segmentList.add(insertSeg);

            } else {
@@ -231,21 +225,21 @@
        List<String> lockPathList = mapService.checkoutPath(agvNo, startCode, endCode, true);

        if (!Cools.isEmpty(lockPathList) && // 存在避让解
            Math.abs(lockPathList.size() - unlockPathList.size()) <= Math.max((mapDataDispatcher.getCodeMatrix(lev)[0].length / 2), 5)) {
            Math.abs(lockPathList.size() - unlockPathList.size()) <= Arrays.stream(mapDataDispatcher.getCodeMatrix(lev)).mapToInt(row -> row.length).sum() / 10
        ) {

            pathList = lockPathList;
        } else {

            // 可走行路径集合计算
            List<String> jamVehicleList = this.getSliceAndReturnJamVehicleList(lev, unlockPathList, agvNo, pathList);    // jamAgvNo may was wave
            List<String> blockVehicleList = this.slicePathAndReturnBlockVehicleList(lev, unlockPathList, agvNo, pathList);    // jamAgvNo may was wave

            if (!Cools.isEmpty(pathList)) {

                if (!Cools.isEmpty(jamVehicleList) && !pathList.get(pathList.size() - 1).equals(endCode.getData())) {
                    String jamAgvNo = jamVehicleList.get(0);
                    if (mapDataDispatcher.queryCodeListFromDynamicNode(null, jamAgvNo).size() > 1 && pathList.size() <= MIN_SLICE_PATH_LENGTH) {
                if (!Cools.isEmpty(blockVehicleList) && !pathList.get(pathList.size() - 1).equals(endCode.getData())) {
                    String blockAgvNo = blockVehicleList.get(0);
                    if (mapDataDispatcher.queryCodeListFromDynamicNode(null, blockAgvNo).size() > 1 && pathList.size() <= MIN_SLICE_PATH_LENGTH) {
                        pathList.clear();
//                        return pathList;
                    }
                }

@@ -253,9 +247,9 @@
            } else {

                // 阻塞车辆列表
                assert !Cools.isEmpty(jamVehicleList);
                assert !Cools.isEmpty(blockVehicleList);

                String jamAgvNo = jamVehicleList.get(0);
                String blockAgvNo = blockVehicleList.get(0);

                boolean initJamCache = false;
                if (null == jam) {
@@ -275,14 +269,14 @@
                long previousTimestamp = jam.getStartTime().getTime();

                // jam vehicle info
                Agv jamAgv = agvService.selectByUuid(jamAgvNo);
                String jamAgvCode = codeService.getById(agvDetailService.selectByAgvId(jamAgv.getId()).getRecentCode()).getData();
                Agv blockAgv = agvService.selectByUuid(blockAgvNo);
                String blockAgvCode = codeService.getById(agvDetailService.selectByAgvId(blockAgv.getId()).getRecentCode()).getData();

                // jam vehicle dynamic on map matrix
                List<String> jamCodeList = mapDataDispatcher.queryCodeListFromDynamicNode(lev, jamAgvNo);
                List<String> blockDynamicList = mapDataDispatcher.queryCodeListFromDynamicNode(lev, blockAgvNo);

                // 路径阻塞
                if (jamCodeList.size() > 1) {
                if (blockDynamicList.size() > 1) {
                    if (System.currentTimeMillis() - previousTimestamp > timeoutDuration) {

                        if (!Cools.isEmpty(lockPathList)) {
@@ -293,7 +287,7 @@
                                    , agvNo, startCode.getData(), endCode.getData(), "路径阻塞超时");
                        }
                    } else {
                        log.info("{}号车辆正在等待交通堵塞，阻塞车辆：【{}】", agvNo, jamAgvNo);
                        log.info("{}号车辆正在等待交通堵塞，阻塞车辆：【{}】", agvNo, blockAgvNo);
                    }

                // 车辆阻塞
@@ -312,7 +306,7 @@
                    do {

                        // 阻塞车辆正在作业，等待 ===>> 超过等待时间，绕路
                        List<Segment> runningSegList = segmentService.getByAgvAndState(jamAgv.getId(), SegmentStateType.RUNNING.toString());
                        List<Segment> runningSegList = segmentService.getByAgvAndState(blockAgv.getId(), SegmentStateType.RUNNING.toString());
                        if (!Cools.isEmpty(runningSegList)) {

                            if (System.currentTimeMillis() - previousTimestamp > timeoutDuration) {
@@ -324,18 +318,18 @@
                                            , agvNo, startCode.getData(), endCode.getData(), "车辆阻塞超时");
                                }
                            } else {
                                log.info("{}号车辆正在等待交通堵塞，阻塞车辆：【{}】", agvNo, jamAgvNo);
                                log.info("{}号车辆正在等待交通堵塞，阻塞车辆：【{}】", agvNo, blockAgvNo);
                            }

                            break;
                        }

                        // 判断下个任务是否为原地任务，如果是则等待 ===>> 超过等待时间，绕路；如果不是，让阻塞车辆避让
                        Segment waitingSeg = segmentService.getJustWaitingSeg(jamAgv.getId());
                        Segment waitingSeg = segmentService.getJustWaitingSeg(blockAgv.getId());
                        if (null != waitingSeg) {

                            // 如果阻塞车辆待执行任务处于原地，则不能通知它避让
                            if (waitingSeg.getEndNode().equals(codeService.selectByData(jamAgvCode).getId())) {
                            if (waitingSeg.getEndNode().equals(codeService.selectByData(blockAgvCode).getId())) {

                                if (System.currentTimeMillis() - previousTimestamp > Math.max((timeoutDuration / 30), (5 * 1000))) {

@@ -346,7 +340,7 @@
                                                , agvNo, startCode.getData(), endCode.getData(), "车辆阻塞超时");
                                    }
                                } else {
                                    log.info("{}号车辆正在等待交通堵塞，阻塞车辆：【{}】", agvNo, jamAgvNo);
                                    log.info("{}号车辆正在等待交通堵塞，阻塞车辆：【{}】", agvNo, blockAgvNo);
                                }

                                break;
@@ -354,12 +348,12 @@
                        }

                        // 通知阻塞车辆避让
                        if (this.notifyVehicleAvoid(jamAgvNo, jamAgvCode, unlockPathList, agvNo, jam)) {
                        if (this.notifyVehicleAvoid(blockAgvNo, blockAgvCode, unlockPathList, agvNo, jam)) {

                            if (jam.getCycleAvo() == 1) {
                                jam.setCycleCode(endCode.getId());
                            }
                            jam.setAvoAgv(jamAgv.getId());
                            jam.setAvoAgv(blockAgv.getId());
                            jam.setNotifyTime(new Date());
                            if (!jamService.updateById(jam)) {
//                                log.error("{}编号阻塞记录更新失败！！！", jam.getUuid());
@@ -376,7 +370,7 @@
                                            , agvNo, startCode.getData(), endCode.getData(), "车辆阻塞超时");
                                }
                            } else {
                                log.info("{}号车辆正在等待交通堵塞，阻塞车辆：【{}】", agvNo, jamAgvNo);
                                log.info("{}号车辆正在等待交通堵塞，阻塞车辆：【{}】", agvNo, blockAgvNo);
                            }
                        }

@@ -422,8 +416,8 @@
        return pathList;
    }

    private List<String> getSliceAndReturnJamVehicleList(Integer lev, List<String> fullPathList, String agvNo, List<String> input) {
        List<String> jamVehicleList = new ArrayList<>();
    private List<String> slicePathAndReturnBlockVehicleList(Integer lev, List<String> fullPathList, String agvNo, List<String> pathList) {
        List<String> blockVehicleList = new ArrayList<>();

        DynamicNode[][] dynamicMatrix = mapDataDispatcher.getDynamicMatrix(lev);
        String[][] waveMatrix = mapDataDispatcher.getWaveMatrix(lev);
@@ -436,7 +430,7 @@
                List<String> waveNodeList = MapDataUtils.parseWaveNode(waveNode);
                List<String> otherWaveList = MapDataUtils.hasOtherWave(waveNodeList, agvNo);
                if (!Cools.isEmpty(otherWaveList)) {
                    jamVehicleList.addAll(otherWaveList);
                    blockVehicleList.addAll(otherWaveList);
                    break;
                }
            }
@@ -445,71 +439,49 @@
            String vehicle = dynamicNode.getVehicle();
            assert !vehicle.equals(DynamicNodeType.BLOCK.val);
            if (!vehicle.equals(DynamicNodeType.ACCESS.val) && !vehicle.equals(agvNo)) {
                jamVehicleList.add(vehicle);
                blockVehicleList.add(vehicle);
                break;
            }

            input.add(code);
            pathList.add(code);
        }

        if (input.size() <= 1) {
            input.clear();
        if (pathList.size() <= 1) {
            pathList.clear();
        }

        return jamVehicleList;
    }

    private String hasEvent(String agvNo) {
        List<Agv> agvList = agvService.list(new LambdaQueryWrapper<>());
        for (Agv agv : agvList) {
            if (agvNo.equals(agv.getUuid())) {
                continue;
            }
            String jamStr = redis.getValue(RedisConstant.AGV_TRAFFIC_JAM_FLAG, agv.getUuid());
            if (!Cools.isEmpty(jamStr)) {

                TrafficJamDto jamDto = JSON.parseObject(jamStr, TrafficJamDto.class);



            }
        }
        return null;
        return blockVehicleList;
    }

    /**
     * avoidPathList include wave node and dynamic node
     */
    private boolean notifyVehicleAvoid(String agvNo, String agvPosCode, List<String> avoidPathList, String sponsor, Jam jam) {

        assert avoidPathList.size() >= 2;
        Agv agv = agvService.selectByUuid(agvNo);
        if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
            log.warn("{}号车辆避让失败，存在进行中任务！！！", agvNo);
            return false;
        }

        int[] startMapIdx = mapDataDispatcher.getCodeMatrixIdx(null, agvPosCode);

        RetreatNavigateNode startNode = new RetreatNavigateNode(startMapIdx[0], startMapIdx[1], agvPosCode);

        assert avoidPathList.size() >= 2;
        RetreatNavigateNode finalNode = retreatNavigateService.execute(agvNo, startNode, avoidPathList, sponsor, jam);
        if (null == finalNode) {
            log.warn("{}号车辆避让失败，检索避让点失败！！！", agvNo);
            return false;
        }

        Date now = new Date();
        String endCodeData = finalNode.getCodeData();
        Agv agv = agvService.selectByUuid(agvNo);
        Code endCode = codeService.selectByData(endCodeData);

        jam.setAvoCode(endCode.getId());

        if (!Cools.isEmpty(segmentService.getByAgvAndState(agv.getId(), SegmentStateType.RUNNING.toString()))) {
            log.warn("{}号车辆避让失败，存在进行中任务！！！", agvNo);
            return false;
        }

        List<Segment> waitingSegList = segmentService.getByAgvAndState(agv.getId(), SegmentStateType.WAITING.toString());
        if (!Cools.isEmpty(waitingSegList)) {

            // revert
            Date now = new Date();
            for (Segment seg : waitingSegList) {
                seg.setState(SegmentStateType.INIT.toString());
                seg.setUpdateTime(now);